do GM

Author: sshane

opendbc/safety/safety/safety_gm.h

@@ -159,32 +159,6 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   return tx;
 }
 
-static int gm_fwd_hook(int bus_num, int addr) {
-  int bus_fwd = -1;
-
-  if (gm_hw == GM_CAM) {
-    if (bus_num == 0) {
-      // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
-      bool is_pscm_msg = (addr == 0x184);
-      if (!is_pscm_msg) {
-        bus_fwd = 2;
-      }
-    }
-
-    if (bus_num == 2) {
-      // block lkas message and acc messages if gm_cam_long, forward all others
-      bool is_lkas_msg = (addr == 0x180);
-      bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
-      bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
-      if (!block_msg) {
-        bus_fwd = 0;
-      }
-    }
-  }
-
-  return bus_fwd;
-}
-
 static safety_config gm_init(uint16_t param) {
   const uint16_t GM_PARAM_HW_CAM = 1;
 
@@ -207,8 +181,9 @@ static safety_config gm_init(uint16_t param) {
     .max_brake = 400,
   };
 
-  static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6},  // pt bus
-                                               {0x184, 2, 8}};  // camera bus
+  // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
+  static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, .blocked = true}, {0x315, 0, 5, .blocked = true}, {0x2CB, 0, 8, .blocked = true}, {0x370, 0, 6, .blocked = true},  // pt bus
+                                               {0x184, 2, 8, .blocked = true}};  // camera bus
 
 
   // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
@@ -223,8 +198,9 @@ static safety_config gm_init(uint16_t param) {
     {.msg = {{0xC9, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
   };
 
-  static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4},  // pt bus
-                                          {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
+  // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
+  static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, .blocked = true},  // pt bus
+                                          {0x1E1, 2, 7}, {0x184, 2, 8, .blocked = true}};  // camera bus
 
   gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
 
@@ -255,5 +231,4 @@ const safety_hooks gm_hooks = {
   .init = gm_init,
   .rx = gm_rx_hook,
   .tx = gm_tx_hook,
-  .fwd = gm_fwd_hook,
 };